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Mehanika M, 3 PDF
Mehanika M, 3 PDF
Mehanika M, 3 PDF
koordinatama
~r = ~r(q1 , q2 , q3 ), (1)
pri qemu se kretaƬe taqke zadaje jednaqinama
x = x(q1 , q20 , q30 ), y = y(q1 , q20 , q30 ) i z = z(q1 , q20 , q30 ). (4)
Slika 1
∂~r ∂x ∂y ∂z ~
= ~ı + ~ + k, (i = 1, 2, 3) (6)
∂qi ∂qi ∂qi ∂qi
s
∂x 2 ∂y 2 ∂z 2
∂~r
= + + = hi , (i = 1, 2, 3) (7)
∂qi ∂qi ∂qi ∂qi
1 ∂~r
~ei = . (8)
hi ∂qi
2 Mehanika M, Tree predavaƬe
(
0 ako je i 6= j,
~ei · ~ej = δij = (i, j = 1, 2, 3) (9)
1 ako je i = j,
3
−
→ d~r ∂~r ∂~r ∂~r X ∂~r
V = = q̇1 + q̇2 + q̇3 = q̇i . (11)
dt ∂q1 ∂q2 ∂q3 i=1
∂q i
∂~r
= hi ~ei . (i = 1, 2, 3) (12)
∂qi
Slika 2
3
−
→ X
V = q̇1 h1~e1 + q̇2 h2~e2 + q̇3 h3~e3 = q̇i hi~ei . (13)
i=1
v v
q u 3 u 3
uX uX
2 2 2 2 2 2
V = q̇1 h1 + q̇2 h2 + q̇3 h3 = t q̇i2 h2i = t V 2, (14)
qi
i=1 i=1
−
→
1 d V ∂~r
aqi = ~a · ~ei = · , (i = 1, 2, 3) (16)
hi dt ∂qi
−
→
d V ∂~r d − → ∂~r −
→ d ∂~r
hi aqi = · = (V · )− V · ( ). (i = 1, 2, 3) (17)
dt ∂qi dt ∂qi dt ∂qi
−
→
∂V ∂~r
= . (i = 1, 2, 3) (18)
∂ q̇i ∂qi
−
→
−
→ ∂V ∂ V2
V · = ( ), (i = 1, 2, 3) (23)
∂ q̇i ∂ q̇i 2
−
→
−
→ ∂V ∂ V2
V · = ( ). (i = 1, 2, 3) (24)
∂qi ∂qi 2
d ∂ V2 ∂ V2
1
aqi = ( ) − ( ) , (i = 1, 2, 3) (25)
hi dt ∂ q̇i 2 ∂qi 2
3
X
~a = aq1 ~e1 + aq2 ~e2 + aq3 ~e3 = aqi ~ei . (26)
i=1
v
q u 3
uX
2 2 2
a = aq1 + aq2 + aq3 = t a2qi , (27)
i=1
Slika 3
∂x ∂y ∂z
= cos θ cos ϕ, = cos θ sin ϕ, = sin θ,
∂r ∂r ∂r
∂x ∂y ∂z
= −r cos θ sin ϕ, = r cos θ cos ϕ, = 0, (29)
∂ϕ ∂ϕ ∂ϕ
∂x ∂y ∂z
= −r sin θ cos ϕ, = −r sin θ sin ϕ, = r cos θ,
∂θ ∂θ ∂θ
q q
V = Vr2 + Vϕ2 + Vθ2 = ṙ2 + r2 ϕ̇2 cos2 θ + r2 θ̇2 . (32)
∂ V2 ∂ V2
( ) = ṙ, ( ) = rϕ̇2 cos2 θ + rθ̇2 ,
∂ ṙ 2 ∂r 2
2
∂ V ∂ V2
( ) = r2 ϕ̇ cos2 θ, ( ) = 0, (33)
∂ ϕ̇ 2 ∂ϕ 2
∂ V2 ∂ V2
( ) = r2 θ̇, ( ) = −r2 ϕ̇2 cos θ sin θ,
∂ θ̇ 2 ∂θ 2
q
a = a2r + a2ϕ + a2θ (35)
Opxte kretaƬe slobodnog krutog tela 5
Slika 4
Slika 5
~rM = ~rA + ̺
~M , (37)
6 Mehanika M, Tree predavaƬe
−
→ d~rA d~
̺M
VM = + , (38)
dt dt
d~
̺M
= ~ω × ̺~M ,
dt
−
→ −
→ −
→ −
→
~M = V A + V MA ,
V M = V A + ~ω × ̺ (39)
−
→ −
→ −−→
V A′ = V A + ~ω × AA′ , (40)
−
→ −
→ −−→ −
→ −−→
V A = V A′ +~ω ′ ×A′A = V A′ −~ω ′ ×AA′ , (41)
−−→
(~ω − ~ω ′ ) × AA′ = 0. (42)
Slika 6
~ − ~ω ′ = 0,
ω odnosno ~ ′,
~ω = ω (43)
d~
ω d~ω ′
= , odnosno ~ε = ~ε′ , (44)
dt dt